US9827674B2 - Method and manipulator assembly for the conditional stopping of at least one manipulator on a path - Google Patents

Method and manipulator assembly for the conditional stopping of at least one manipulator on a path Download PDF

Info

Publication number
US9827674B2
US9827674B2 US14/969,513 US201514969513A US9827674B2 US 9827674 B2 US9827674 B2 US 9827674B2 US 201514969513 A US201514969513 A US 201514969513A US 9827674 B2 US9827674 B2 US 9827674B2
Authority
US
United States
Prior art keywords
manipulator
braking
path
point
travel condition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US14/969,513
Other languages
English (en)
Other versions
US20160176049A1 (en
Inventor
Holger Tronnier
Günther Wiedemann
Stefan Burkhart
Andreas Aurnhammer
Manfred Hüttenhofer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Assigned to KUKA ROBOTER GMBH reassignment KUKA ROBOTER GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: AURNHAMMER, ANDREAS, BURKHART, STEFAN, Hüttenhofer, Manfred, Tronnier, Holger, WIEDEMANN, Günther
Publication of US20160176049A1 publication Critical patent/US20160176049A1/en
Application granted granted Critical
Publication of US9827674B2 publication Critical patent/US9827674B2/en
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control of velocity, acceleration or deceleration
    • G05B19/4166—Controlling feed or in-feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39097—Estimate own stop, brake time, then verify if in safe distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41279—Brake
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Definitions

  • the invention relates to a method and a manipulator assembly for the conditional stopping of at least one manipulator on a path.
  • the method and the manipulator assembly can be used, for example, in industrial applications, in which a programmed path can only be traveled along completely if a defined travel condition is met.
  • a manipulator (robot or industrial robot) is, in accordance with DIN EN ISO 8373, an automatically guided, multi-purpose manipulator equipped with three or more freely-programmable movement axes, which is employed in a fixed or a mobile manner in industrial applications. It can carry grippers or tools (end effectors) or workpieces.
  • the braking of the manipulator In order for the manipulator to stop at the stopping point, the braking of the manipulator must be commenced at a sufficiently early point on the path, at the so-called braking point, so that the braking point is preferably the point at which the braking must be commenced in order to completely brake the manipulator by the time the stopping point is reached.
  • Braking points are known from the prior art, which are specified points usually taught or programmed into the manipulator by the user.
  • the stopping point is likewise a taught point on the path of the manipulator.
  • conditional stopping of the manipulator is understood to mean a stopping of the manipulator which takes place only if a respective condition is met. Such a condition can be defined, for example, by means of a travel condition variable, as described below.
  • Override is understood as a chronological scaling variable of the manipulator movement. If the override is 100%, the manipulator travels the programmed movement in the originally programmed time. If the override is, for example, 50%, the manipulator travels the programmed movement in twice the amount of time.
  • a conditional stopping by means of blending of the stopping point is also known.
  • a stopping point and a braking point are taught or programmed by the user. If the manipulator reaches the braking point and the travel condition is not met, the manipulator commences the braking and travels to the stopping point. If, however, the travel condition is met, the stopping point is not entered into, but is instead blended with a defined blending radius.
  • the braking point must be selected such that the stopping point can be complied with, which leads to extended cycle times.
  • the path taken in the case of braking deviates from the path without any braking, i.e. the braking is not true to the path.
  • the objective of the present invention is to overcome the disadvantages mentioned. In particular, it is intended to allow a stopping point to be placed or fixed on a given path, without having to teach an additional geometrical path point (preferably braking point).
  • the above-mentioned objectives are achieved by means of a method for the conditional stopping of at least one manipulator, wherein the at least one manipulator travels along a path, which path has a stopping point, and the method comprises the following method step: Calculation of a braking point assigned to the stopping point as a function of a speed of the manipulator, with the braking point being a point on the path.
  • the path is preferably a programmed and/or pre-defined path or trajectory along which the manipulator travels.
  • the speed of the manipulator is preferably assessed at the Tool Center Point (TCP).
  • TCP Tool Center Point
  • the nominal speed of the manipulator at the time of the calculation is preferably used.
  • the current speed of the manipulator is taken into account.
  • the location of the braking point on the path of the manipulator is defined so far away from the stopping point that a stopping of the manipulator by the stopping point location can be reliably achieved.
  • the location of the braking point is so close to the stopping point that the cycle time of the manipulator is reduced.
  • the calculation of the braking point is preferably realized in a cyclic manner. This means that the location of the braking point as a function of the current speed of the manipulator is constantly updated.
  • the calculation cycle is preferably not bound to a fixed time interval, but can in fact be adjusted.
  • the calculation of the braking point allows the braking operation to be carried out with optimized braking parameters.
  • braking parameters such as the braking force
  • the braking point is calculated such that a braking with optimized braking parameters leads to a stopping of the manipulator in the stopping point.
  • the braking parameters can be optimized with regards to recuperation, braking time, wear or other known optimization parameters.
  • the path of the manipulator can be based, for example, on a Point-to-Point (PTP) planning and/or a Continuous Path (CP) planning.
  • PTP Point-to-Point
  • CP Continuous Path
  • the thus planned nominal path is traveled along by the manipulator (robot).
  • the stopping point at which the manipulator should be stopped, lies on the nominal path and is entered into with precise accuracy.
  • the braking point is typically calculated using the nominal path.
  • the actually traveled path of the manipulator can deviate from the nominal path.
  • the deviation between actual path and nominal path is preferably taken into account when calculating the braking point, so that the braking point preferably lies on the actual path.
  • the method for conditional stopping of at least one manipulator preferably additionally comprises the following steps: Checking of the status of a travel condition variable, after the calculation of the braking point, and braking of the manipulator if the status of the travel condition variable necessitates braking in the event of exceeding of the calculated braking point.
  • the time at which the calculated braking point is exceeded is preferably determined before the actual exceeding of the calculated braking point. For this purpose it is calculated, based on the current point of the manipulator on the path, whether the manipulator could still stop before the taught stopping point in the event that the braking was initiated in the subsequent control cycle. If not, the braking point is exceeded by the manipulator, at the latest at the start of the next control cycle, and the braking of the manipulator must be initiated if the status of the travel condition variable necessitates braking.
  • the travel condition variable is preferably a Boolean variable, which indicates whether braking of the manipulator is required, or whether the path can continue to be traveled along.
  • the travel condition variable can also be a non-Boolean variable. Such a non-Boolean variable can, for example, contain information about a necessary braking delay. The braking delay is a negative acceleration and determines the intensity of the braking.
  • the checking of the travel condition is advantageous, as the manipulator is only braked if braking is required. If, however, no braking is required, the planned path can be traveled along by the manipulator without a drop in speed.
  • the status of the travel condition variable is preferably cyclically monitored and, in the case of an initiated braking operation, the manipulator is accelerated again if the status of the travel condition variable changes during the braking of the manipulator.
  • the status can be monitored, for example, 10 times per second, or at other appropriate time intervals.
  • the cyclic monitoring of the travel condition variable allows a flexible termination of the braking operation, so that the manipulator can again be accelerated as soon as the status of the travel condition variable no longer necessitates braking.
  • the manipulator is then accelerated to the originally planned speed and the planned path is traveled along. As a result, the loss of time caused by the initiated braking is limited, so that the cycle time of the manipulator is reduced.
  • the braking action during a braking operation is preferably adjusted as a function of a travel condition variable, so that the manipulator stops completely, at the latest at the stopping point.
  • the adjustment of the braking action is advantageous, since, in addition to the location of the braking point itself, another variable is available which has direct influence on the point at which the manipulator actually stops.
  • the manipulator can thus also be stopped in the taught and/or programmed stopping point if braking becomes necessary at a time when the optimal braking point for the existing speed has already been exceeded and the manipulator could no longer be stopped at the taught and/or programmed stopping point with the optimized braking parameters.
  • the manipulator can preferably be stopped even before the stopping point is reached, even though the braking was initiated later. Particularly preferably, the stopping point should not be exceeded. If this is no longer possible because the braking was initiated too late, a possible crash occurs at a reduced speed.
  • a manipulator assembly comprising at least one manipulator and at least one control device, wherein the at least one manipulator is configured to travel along to a path, and the path has a stopping point, and the at least one control device is configured to calculate a braking point assigned to the stopping point as a function of a speed of the manipulator, with the braking point being a point on the path.
  • the control device controls the manipulator. It receives signals from the manipulator and sends commands to the manipulator. In addition, the control device can also receive external signals and convert them into commands for the manipulator.
  • the travel condition variable is preferably set by an external signal.
  • the control device is preferably configured to check the status of a travel condition variable and to send a command to brake the manipulator, if the status of the travel condition variable necessitates braking.
  • control device is additionally configured to cyclically monitor the status of the travel condition variable and, in the case of an initiated braking operation of the manipulator, to send a command to accelerate the manipulator, if the status of the travel condition variable changes during the braking of the manipulator.
  • the braking action during a braking operation is preferably adjustable as a function of the travel condition variable, so that the manipulator stops, at the latest at the stopping point.
  • the braking of the manipulator is true to the path.
  • the manipulator travels along the planned path during the braking, without leaving this path. This is advantageous, since collisions with other objects situated in the surrounding environment can be avoided.
  • the manipulator is able, after a path-true braking, to resume the programmed movement by means of acceleration. Upon completion of the acceleration, the manipulator thus continues traveling along the planned path at the programmed speed. A return of the manipulator to the planned path is not required, which means that cycle time can be saved.
  • the path preferably comprises at least one path section that is a spline.
  • a spline is a function, which is made up piecewise of n-th degree polynomials. At the points at which two polynomial units coincide, certain conditions are imposed, for example, that the spline is continuously differentiable (n ⁇ 1)-times.
  • a spline can be defined, for example, by means of several programmed or taught points, with the specified points being traveled along by the manipulator in a precisely accurate manner.
  • a path section defined as a spline is advantageous, as the path section exists as a closed mathematical formula and the current position of the manipulator on the path section can be stated as a function of a scalar path progress variable.
  • the path progress variable states the distance from the current position of the manipulator to a defined point on the path, which distance is measured on the path.
  • the defined point is usually a programmed or taught point.
  • the location of the braking point on the path is preferably calculated using a path progress variable of the path. This is advantageous, as the braking point can be calculated particularly easily because the path progress variable is a scalar variable.
  • FIG. 1 shows a manipulator assembly comprising a manipulator and a control device
  • FIG. 2 shows an exemplary path of the manipulator comprising a stopping point and a braking point
  • FIGS. 3A-C show the change of the speed of the manipulator as a function of the travel condition variable in normal operation
  • FIGS. 4A-B show the change of the speed of the manipulator as a function of the travel condition variable in the event of an emergency stop.
  • FIG. 1 shows a manipulator assembly 1 , comprising a manipulator 10 and a control device 20 .
  • the depicted manipulator 10 is configured to travel along a path 100 , which is defined as a spline.
  • the path 100 is defined by the points P 1 , P 2 , P 3 .
  • the depicted stopping point 101 lies on the path 100 and determines the point at which the manipulator 10 should or must be stopped if braking is required.
  • a braking point 102 is assigned to the stopping point 101 .
  • the location of the braking point 102 is calculated by the control device 20 as a function of the speed of the manipulator 10 ; it is therefore not specified, but is instead dependent on the speed of the manipulator.
  • the braking point 102 is the point at which the braking is commenced if braking is required.
  • FIG. 2 is a schematic depiction of an exemplary path 100 of the manipulator 10 , which path is defined as a spline by the points P 1 , P 2 , P 3 .
  • a diagram is also presented, in which the speed v of the manipulator is plotted against the path progress variable x.
  • the depiction is to be understood as a schematic depiction, and is not to scale.
  • the manipulator 10 travels along the path 100 at a constant speed.
  • the path should be traveled in the direction from point P 1 to point P 3 .
  • the status of the travel condition variable is set such that braking is required.
  • the manipulator thus brakes and stops in the stopping point 101 .
  • the speed of the manipulator in the stopping point is equal to zero, as shown.
  • FIGS. 3A through 3C show diagrams of three typical cases of the conditional stopping with optimized braking parameters
  • FIGS. 4A and 4B show diagrams of two typical cases of conditional stopping, which necessitate a braking with changed braking action in order to stop the manipulator 10 by the stopping point 101 location.
  • Each of these figures first plots the status of the travel condition variable 200 .
  • the travel condition variable 200 can, in the present exemplary cases, assume the values T RUE and F ALSE .
  • the status T RUE does not require braking of the manipulator 10
  • the status F ALSE requires a braking of the manipulator 10
  • the speed v of the manipulator 10 is plotted below the travel condition variable 200 .
  • the planned speed v of the manipulator 10 is equal to 1 m/s.
  • the broken vertical line identified by reference numeral 102 corresponds to the braking point 102 on the path, and the broken vertical line identified by reference numeral 101 corresponds to the stopping point 101 .
  • FIG. 3A shows the case in which the travel condition variable 200 always takes the status T RUE , and thus no braking is required.
  • this corresponds to a constantly open press. Accordingly, the manipulator travels along the path without a change of speed, as can be seen in the speed diagram.
  • FIG. 3B shows the case in which the travel condition variable 200 always takes the status F ALSE .
  • this corresponds to a constantly closed press. Braking is thus required in the event of exceeding of the calculated braking point 102 .
  • the manipulator is braked from the braking point 102 and stops in the stopping point 101 .
  • FIG. 3C shows the case in which the travel condition variable 200 initially takes the status F ALSE .
  • the status of the travel condition variable 200 changes from F ALSE to T RUE .
  • this corresponds to an opening of the press, once the manipulator has already exceed the calculated optimal braking point 102 . Because the travel condition variable is now met and braking is no longer required, the braking operation is terminated. The manipulator is again accelerated to the planned speed of 1 m/s.
  • FIG. 4A showed the case in which the travel condition variable 200 initially takes the status T RUE . After exceeding the braking point 102 , the status of the travel condition variable 200 changes from T RUE to F ALSE . In the example of the press linking, this corresponds to a malfunction, which is caused, for example, by the fact that the press begins to close once the calculated braking point 102 has already been exceeded. If such a change in the status of the travel condition variable 200 is detected during the cyclical monitoring of the travel condition variable 200 , in order to still be able to stop the manipulator 10 in the stopping point 101 the braking must occur with increased braking action compared with the optimized braking parameters. In the case shown in FIG. 4A , due to the increased braking action, the manipulator is stopped even before it reaches the stopping point 101 .
  • FIG. 4B shows the case in which the travel condition variable 200 initially takes the status F ALSE , and braking is required.
  • This braking operation is initiated, as can be seen in the speed diagram, when the braking point 102 is reached.
  • the status of the travel condition variable 200 then changes from F ALSE to T RUE .
  • braking is now no longer required.
  • the braking operation is terminated, and the manipulator is accelerated again.
  • the status of the travel condition variable 200 changes again, however, in the shown case, namely from T RUE to F ALSE .
  • a (heavy) braking of the manipulator 10 is required now.
  • a braking with increased braking action is required now. In the shown case, due to the increased braking action, the manipulator 10 can be stopped in the stopping point 101 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
US14/969,513 2014-12-22 2015-12-15 Method and manipulator assembly for the conditional stopping of at least one manipulator on a path Active 2036-02-29 US9827674B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014226789 2014-12-22
DE102014226789.7A DE102014226789A1 (de) 2014-12-22 2014-12-22 Verfahren und Manipulatoranordnung zum bedingten Anhalten zumindest eines Manipulators auf einer Bahn
DE102014226789.7 2014-12-22

Publications (2)

Publication Number Publication Date
US20160176049A1 US20160176049A1 (en) 2016-06-23
US9827674B2 true US9827674B2 (en) 2017-11-28

Family

ID=54707589

Family Applications (1)

Application Number Title Priority Date Filing Date
US14/969,513 Active 2036-02-29 US9827674B2 (en) 2014-12-22 2015-12-15 Method and manipulator assembly for the conditional stopping of at least one manipulator on a path

Country Status (5)

Country Link
US (1) US9827674B2 (de)
EP (1) EP3037221A3 (de)
KR (1) KR20160076477A (de)
CN (1) CN105717872B (de)
DE (1) DE102014226789A1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160246286A1 (en) * 2015-02-25 2016-08-25 Siemens Aktiengesellschaft Method for checking the positioning accuracy of a machine part that is displaceable with respect to at least one axis by means of a drive and a controller
US11839979B2 (en) 2018-06-15 2023-12-12 Universal Robots A/S Dual mode free-drive of robot arm
US12296485B2 (en) 2019-10-22 2025-05-13 Universal Robots A/S Robot arm with adaptive three-dimensional boundary in free-drive
US12384019B2 (en) 2019-10-22 2025-08-12 Universal Robots A/S Safe activation of free-drive mode of robot arm
US12397414B2 (en) 2019-10-22 2025-08-26 Universal Robots A/S Maintaining free-drive mode of robot arm for period of time

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110612181B (zh) * 2017-02-17 2023-05-23 Abb瑞士股份有限公司 机器人引导通过编程期间控制工业机器人的方法和工业机器人
EP3498433A1 (de) 2017-12-14 2019-06-19 Universal Robots A/S Dynamische sicherheitstrajektorien in einem robotersystem
DE102018203078B3 (de) 2018-03-01 2019-05-09 Kuka Deutschland Gmbh Verfahren zum automatischen Erzeugen einer Bewegungstrajektorie und zugehöriges Computerprogrammprodukt
CN112368116B (zh) * 2018-06-15 2025-03-21 优傲机器人公司 附接到机器人臂的有效载荷的估计
TWI864564B (zh) * 2022-01-21 2024-12-01 美商靈巧公司 具有獨立可控制之高階導數之機器人系統、控制一機器人系統之方法、及體現於一非暫時性電腦可讀媒體中之電腦程式產品
DE102022110546A1 (de) 2022-04-29 2023-11-02 Carl Zeiss Industrielle Messtechnik Gmbh Steuereinheit und Steuerungsverfahren

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4603286A (en) 1983-03-16 1986-07-29 Fanuc Ltd Acceleration/deceleration control system
US5070287A (en) 1989-09-27 1991-12-03 Siemens Aktiengesellschaft Method for a numerical positioning control system
US5473542A (en) 1992-07-21 1995-12-05 Siemens Aktiengesellschaft Method for a time-optimal, true-to-path braking of axle drives of numerically controlled machines
DE19535869A1 (de) 1995-09-27 1997-04-03 Isg Ind Steuerungstechnik Gmbh Verfahren zur Steuerung der Bremswege bei NC-Maschinen
US6166504A (en) 1998-12-22 2000-12-26 Denso Corporation Control apparatus for robot having an arm moving within allowable working area
DE10361132A1 (de) 2003-06-18 2005-01-27 Elan Schaltelemente Gmbh & Co. Kg Verfahren zur Überwachung der Bewegung eines sich in mehreren Freiheitsgraden bewegenden Gefahr bringenden Objektes wie Handhabungsmasse und/oder der beweglichen Masse eines Handhabungsgerätes
EP1632318A2 (de) 2004-09-02 2006-03-08 Fanuc Ltd Steuerungsgerät zur Robotersinterferenzvermeidung
US20080021597A1 (en) * 2004-08-27 2008-01-24 Abb Research Ltd. Device And Method For Safeguarding A Machine-Controlled Handling Device
WO2009055123A1 (en) 2007-10-21 2009-04-30 Ge Fanuc Automation North America, Inc. Method and system for meeting end conditions in a motion control system
EP2149829A1 (de) 2008-07-30 2010-02-03 Neopost Technologies Servomotorgeschwindigkeitskontrolle
DE102011102297A1 (de) 2011-05-23 2012-01-12 Daimler Ag Verfahren zur Steuerung und/oder Regelung von Antriebsmotoren eines Roboters
US8583285B2 (en) 2009-09-04 2013-11-12 Kuka Laboratories Gmbh Method and device for stopping a manipulator
US20140371905A1 (en) * 2011-09-15 2014-12-18 Convergent Information Technologies Gmbh System and method for the automatic generation of robot programs

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1857229B1 (de) * 2006-05-16 2009-07-15 Abb Ab Steuersystem für einen Industrieroboter
DE102010015316A1 (de) * 2010-04-17 2011-10-20 Audi Ag Verfahren zur Regelung der Position und/oder der Geschwindigkeit

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4603286A (en) 1983-03-16 1986-07-29 Fanuc Ltd Acceleration/deceleration control system
US5070287A (en) 1989-09-27 1991-12-03 Siemens Aktiengesellschaft Method for a numerical positioning control system
US5473542A (en) 1992-07-21 1995-12-05 Siemens Aktiengesellschaft Method for a time-optimal, true-to-path braking of axle drives of numerically controlled machines
DE19535869A1 (de) 1995-09-27 1997-04-03 Isg Ind Steuerungstechnik Gmbh Verfahren zur Steuerung der Bremswege bei NC-Maschinen
US6166504A (en) 1998-12-22 2000-12-26 Denso Corporation Control apparatus for robot having an arm moving within allowable working area
DE10361132A1 (de) 2003-06-18 2005-01-27 Elan Schaltelemente Gmbh & Co. Kg Verfahren zur Überwachung der Bewegung eines sich in mehreren Freiheitsgraden bewegenden Gefahr bringenden Objektes wie Handhabungsmasse und/oder der beweglichen Masse eines Handhabungsgerätes
US20080021597A1 (en) * 2004-08-27 2008-01-24 Abb Research Ltd. Device And Method For Safeguarding A Machine-Controlled Handling Device
EP1632318A2 (de) 2004-09-02 2006-03-08 Fanuc Ltd Steuerungsgerät zur Robotersinterferenzvermeidung
US20060052901A1 (en) * 2004-09-02 2006-03-09 Fanuc Ltd Robot interference prevention control device
WO2009055123A1 (en) 2007-10-21 2009-04-30 Ge Fanuc Automation North America, Inc. Method and system for meeting end conditions in a motion control system
EP2149829A1 (de) 2008-07-30 2010-02-03 Neopost Technologies Servomotorgeschwindigkeitskontrolle
US8583285B2 (en) 2009-09-04 2013-11-12 Kuka Laboratories Gmbh Method and device for stopping a manipulator
DE102011102297A1 (de) 2011-05-23 2012-01-12 Daimler Ag Verfahren zur Steuerung und/oder Regelung von Antriebsmotoren eines Roboters
US20140371905A1 (en) * 2011-09-15 2014-12-18 Convergent Information Technologies Gmbh System and method for the automatic generation of robot programs

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
Examination Report from GPTO in DE Appl. No. 10 2014 226 789.7, dated Oct. 9, 2015.
Manfred Weck, "Machine Tools Manufacturing Systems Engineering 4," Automation of Machines and Systems, 5th Revised Edition, 2001.
The English translation of the Korean Office Action, dated May 4, 2017, in the related Korean Patent Appl. No. 10-2015-0183155.
The extended European Search Report, dated Sep. 8, 2016, in the related European Patent Appl. No. 15196403.8.

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160246286A1 (en) * 2015-02-25 2016-08-25 Siemens Aktiengesellschaft Method for checking the positioning accuracy of a machine part that is displaceable with respect to at least one axis by means of a drive and a controller
US10146205B2 (en) * 2015-02-25 2018-12-04 Siemens Aktiengesellschaft Method for checking the positioning accuracy of a machine part that is displaceable with respect to at least one axis by means of a drive and a controller
US11839979B2 (en) 2018-06-15 2023-12-12 Universal Robots A/S Dual mode free-drive of robot arm
US12296485B2 (en) 2019-10-22 2025-05-13 Universal Robots A/S Robot arm with adaptive three-dimensional boundary in free-drive
US12384019B2 (en) 2019-10-22 2025-08-12 Universal Robots A/S Safe activation of free-drive mode of robot arm
US12397414B2 (en) 2019-10-22 2025-08-26 Universal Robots A/S Maintaining free-drive mode of robot arm for period of time

Also Published As

Publication number Publication date
EP3037221A2 (de) 2016-06-29
DE102014226789A1 (de) 2016-07-07
CN105717872A (zh) 2016-06-29
KR20160076477A (ko) 2016-06-30
CN105717872B (zh) 2019-12-31
US20160176049A1 (en) 2016-06-23
EP3037221A3 (de) 2016-10-12

Similar Documents

Publication Publication Date Title
US20160176049A1 (en) Method and Manipulator Assembly for the Conditional Stopping of at Least One Manipulator on a Path
Ferraguti et al. Safety barrier functions and multi-camera tracking for human–robot shared environment
US9821459B2 (en) Multi-joint robot having function for repositioning arm
JP6226914B2 (ja) 非常停止時にサーボモータを制御して停止させるサーボモータ停止制御装置
US8457787B2 (en) Method and control device for targeted reaction in the event of a contact between a machine element of a machine and an object
JP2017077608A (ja) ロボットの安全監視装置
CN105573249A (zh) 具备用于确认负荷信息的设定的功能的控制装置
US10639799B2 (en) Robot system
CN112828880A (zh) 用于动态路径规划的状态机
JP6259413B2 (ja) ロボットまたは工作機械の制御装置、無線教示操作盤および自動機械システム
JP2018516107A5 (de)
US10048675B2 (en) Numerical controller performing 3-dimensional interference check corresponding to feedrate change
SE527525C2 (sv) Styranordning, metod och styrsystem för start eller stop av en nästkommande arbetsuppgift hos en robot
US11027429B2 (en) Robot
US20190232491A1 (en) Work robot system
JP2019111604A5 (ja) 制御装置およびロボットシステム
JP6544291B2 (ja) 関節駆動ロボットの異常診断方法及び異常診断装置
US11378937B2 (en) Numerical controller for controlling acceleration and deceleration of spindle feed rate
WO2022196010A1 (ja) 制御装置、制御システム、制御方法及びプログラム
KR20110106279A (ko) 매니퓰레이터 시스템을 제어하기 위한 방법 및 장치
KR101457642B1 (ko) 산업용 로봇의 비상 정지방법
JP2019217508A (ja) レーザ溶接制御方法及びレーザ溶接システム
US20200282562A1 (en) Control system of industrial robot
JP2005186183A (ja) 産業用ロボットおよびその異常判断方法
EP2900432B1 (de) Verfahren zur überwachung eines roboters

Legal Events

Date Code Title Description
AS Assignment

Owner name: KUKA ROBOTER GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TRONNIER, HOLGER;WIEDEMANN, GUENTHER;BURKHART, STEFAN;AND OTHERS;REEL/FRAME:037572/0491

Effective date: 20160118

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 4

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1552); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 8